BENTLY 133300-01监测器卡件
40 MHz嵌入式控制器和40 MHz DSP控制器是SERVOSTAR CDLite的核心。他们使用其内部操作系统来监控输入、调整输出、串行通信，维护伺服控制并监控故障。控制核心处理器的闪存固件
并给出了SERVOSTAR CD-Lite，其工作特性保存在EPROM中。版本可以使用VER命令读取固件的数量。
在致电Danaher Motion客户支持时，请确保随时提供固件版本号
可获得的最新版本的固件可供购买，并且易于现场升级通过PC。可通过联系Danaher Motion销售代表或联系Danaher Motion客户支持。伺服回路描述
SERVOSTAR CD Lite通过控制多达三种不同的电机提供高性能电机控制
DSP内的闭环系统：电流、换向、速度。
电流回路
由于电流和转矩在永磁（PM）电机中成比例，电流回路通常称为扭矩环。电流回路的功能是按照指示调节电机电流
电流指令信号。来自微处理器的电流指令信号可以来自直接用户输入（OPMODE 3）或速度回路的输出。实际上有三种电流
回路，每个电机相一个。每个电流回路从换向回路。
SERVOSTAR CD-Lite采用全数字极位置电流回路，具有高带宽和电流环路采样率为16 kHz（62.5µs）。电流回路的所有系数均为数字
对于给定的一组电机和驱动特性，在驱动器内部计算。电流回路也包括自适应增益项以补偿一些非线性效应。电流回路包含电气隔离，用于保护高压母线。这些电流回路还将输出电压转换为脉宽调制（PWM）信号，提供
尽可能提高效率。根据驱动大小，PWM中心频率可以是8或16kHz。
换向回路
该回路将单相电流指令信号转换为三相位置调制正弦信号
电流回路的波输入。SERVOSTAR CD-Lite具有专利的正弦波形式发电机使用一种称为扭矩角提前的技术，以使其电机达到最佳性能。波形发生器是微处理器的一部分，以16kHz的速率更新。这在低速和高速下都提供了高保真正弦波换向。正弦波输出必须与电机的反电动势特性。这就是为什么旋转变压器或编码器与电机对齐
Servo Loop Description The SERVOSTAR CD-Lite provides high-performance motor control by controlling up to three distinct closed loop systems within the DSP: the current, commutation, velocity. Current Loop Since current and torque are proportional in a Permanent Magnet (PM) motor, the current loop is often referred to as the torque loop. The function of the current loop is to regulate motor current as directed by a current command signal. The current command signal from the microprocessor can either come from a direct user input (OPMODE 3) or from the output of the velocity loop. There are actually three current loops, one for each motor phase. Each current loop receives its own command input from the commutation loop. The SERVOSTAR CD-Lite uses a fully digital, pole placement current loop with high bandwidth and a current loop sampling rate of 16 kHz (62.5 µs). All coefficients of the current loop are digitally calculated inside the drive for a given set of motor and drive characteristics. The current loop also includes adaptive gain terms to compensate for some non-linear effects. The current loop incorporates electrical isolation for protection from the high-voltage BUS. These current loops also convert the output voltage to a Pulse Width Modulated (PWM) signal providing the highest efficiency possible. The PWM center frequency can be 8 or 16 kHz according to the drive size. Commutation Loop This loop converts a single-phase current command signal into a three-phase, position-modulated sine wave input to the current loops. The SERVOSTAR CD-Lite has a patented sinusoidal wave form generator that uses a technique called Torque Angle Advance to get top performance out of its motors. The waveform generator is part of the microprocessor and is updated at a 16 kHz rate. This provides hifidelity sinewave commutation at both low and high velocities. The sinewave output must be aligned to the back EMF characteristics of the motor. This is why resolver or encoder alignment to the motor is critical.
